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Replace .to<double>() and .template to<double>() with .value() (#3667)

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It's a less verbose way to do the same thing.
This commit is contained in:
Tyler Veness
2021-10-25 08:58:12 -07:00
committed by GitHub
parent 6bc1db44bc
commit 181723e573
134 changed files with 782 additions and 826 deletions
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8
wpimath/src/main/native/cpp/controller/PIDController.cpp
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@@ -21,7 +21,7 @@ PIDController::PIDController(double Kp, double Ki, double Kd,
if (period <= 0_s) {
wpi::math::MathSharedStore::ReportError(
"Controller period must be a non-zero positive number, got {}!",
period.to<double>());
period.value());
m_period = 20_ms;
wpi::math::MathSharedStore::ReportWarning(
"{}", "Controller period defaulted to 20ms.");
@@ -86,7 +86,7 @@ bool PIDController::AtSetpoint() const {
positionError = m_setpoint - m_measurement;
}
double velocityError = (positionError - m_prevError) / m_period.to<double>();
double velocityError = (positionError - m_prevError) / m_period.value();
return std::abs(positionError) < m_positionTolerance &&
std::abs(velocityError) < m_velocityTolerance;
@@ -139,11 +139,11 @@ double PIDController::Calculate(double measurement) {
m_positionError = m_setpoint - measurement;
}
m_velocityError = (m_positionError - m_prevError) / m_period.to<double>();
m_velocityError = (m_positionError - m_prevError) / m_period.value();
if (m_Ki != 0) {
m_totalError =
std::clamp(m_totalError + m_positionError * m_period.to<double>(),
std::clamp(m_totalError + m_positionError * m_period.value(),
m_minimumIntegral / m_Ki, m_maximumIntegral / m_Ki);
}